The Research Of Surveying Way And Plan Way Strategy Of The Home Use Cleaning Robot

At present, the research of the moving robot is a hot spots and has the broad application prospect. Along with the expansion of people's hous, quickiy work rhythm of life's, nearly daily one time tows causes the people to be unable to withstand the load. Urgent needs to have one kind of equipment assistance to set really substitutes the person finish grade clearing. Therefore, developing a home use cleaning robot, helps the people to extricate from the arduous family cleaning work, to improves the people quality of life, has the very vital significance.This article has outlined the domestic and foreign the research of motion robot area achievement, in the view of home use clean hot topics and so on surveying robot's way and planing way has carried on the analysis. This article selected the ultrasonic sensor to take the home use cleaning robot's detecting element,has discussed its directivity characteristics, the launching and the receiveing characteristic, the union practical application, has discussed in this sensor's application good and bad points, and used one kind of filtering algorithm to make up its oneself to a certain extent in the application insufficiency.In planing the way aspect, this article uses the thought which the overall situation way plan and the partial way plan to unify, selects the inside spin method in the overall situation scope to walk, indoor along the wall ornaments obstacle works as wall, the robot by all around sweeps clear to the room center.The indoor isolation obstacle, according to the indoor characteristic furniture, the shape division is three big categories: The rectangle class, the right angle polygon class as well as the circular class, and plans correspondingly to three kind of shape's obstacles detoured the strategy. The robot overall situation inside spin walks with the local region circles bonds walks unifies, completes the region traversal finally.This article through moves robot's under indoor environment guidance simulation experiment, confirmed the research validity, has established the home use clean robot indoor region traversal way plan way basically, has provided certain rationale for the following home use clean robot in the control aspect's hardware and the software study, for the actual development, the production has provided a reference direction.